{
  "study": "EN-02R",
  "config": {
    "mass": 1,
    "radius": 0.12,
    "g": 9.81,
    "duration": 120,
    "dt": 0.002,
    "amplitude": 0.18,
    "mu": 0.15,
    "slipRegularization": 0.01
  },
  "phases": {
    "angular": "-12*pi*s",
    "radial": "-pi*s",
    "s": "10*(t/120)^3-15*(t/120)^4+6*(t/120)^5"
  },
  "direction": "counterclockwise viewed from +Z towards XY",
  "referenceFrame": "X cross Y = Z; +Z upward",
  "stop": null,
  "initialGeometryErrorM": 0,
  "maxPositionDifferenceM": 1.6142487749395092e-10,
  "maxRadialCavityErrorM": 0.0009005824608991908,
  "minSphereRadialMarginM": 0.30999982013632554,
  "minNormalReactionN": 9.809999999931415,
  "maxEnergyResidualJ": 1.49176107984553e-7,
  "final": {
    "t": 120,
    "X": [
      1.7060699244758772,
      0.9850001021315722,
      -0.059999999999972006
    ],
    "angle": 6.8067841583810695,
    "rotation": 360.0000043317434,
    "pattern": 360,
    "N": 9.810000001914503,
    "speed": 0.000029184551402266675,
    "energy": -0.5885999994035885,
    "work": 0.000010017101672969134,
    "heat": 0.000010021164281940701,
    "spin": 80.9820419014391,
    "spinSpeed": 0.00024314772752619926,
    "slipSpeed": 8.832178667933169e-9,
    "friction": 0.0000012996550912394976,
    "quaternion": [
      0.9742253294742491,
      0.19051323899682857,
      0.1124155463137921,
      0.04418662834727124
    ],
    "omega": [
      0.00021448031865459335,
      0.00011451629250354633,
      -0.0000022425570719957187
    ],
    "R": 1.2899999245453275
  },
  "limitations": "Prescribed surface; material-coordinate assumption; regularized friction; terrestrial gravity. Numerical timestep comparison is not physical validation."
}